TSEND CGolf::Missioning(_us (*img)[256], int now){
switch(now){
case 0:
Step1(img);
break;
case 1:
Step2(img);
break;
}
return m_send;
}
TSEND CHurdle::Missioning(_us (*img)[256], int now) {
switch(now) {
case 0:
m_send = Step1(img);
break;
case 1:
m_send = Step2(img);
break;
}
return m_send;
}
TSEND CTurnel1::Missioning(_us (*img)[256], int now){
switch(now){
case 0:
m_send = Step2(img);
break;
case 1:
m_send = Step3(img);
break;
case 2:
m_send = Step3(img);
break;
case 3:
m_send = Step4(img);
break;
}
return m_send;
}
TSEND CTurnel1::Missioning(_us (*img)[256], int now){
switch(now){
case 0:
m_send = Step1(img);
break;
case 1:
m_send = LineChk(img);
break;
/*case 2:
m_send = Middle(img);
break;
case 3:
m_send = LineChk(img);
break;*/
case 2:
m_send = Step2(img);
break;
case 3:
m_send = Finish(img);
break;
}
return m_send;
}
/*!
Computes assignment matrix for M.
*/
int Hungarian(const gsl_matrix * const M, const bool convToMinAsg,
gsl_matrix * const Assignment)
{
int res, z0_r, z0_c;
bool done = false;
unsigned int next = STEP1;
gsl_vector_uint *rowCov, *colCov;
gsl_matrix_uint *mask;
gsl_matrix_int *path;
gsl_matrix *MCopy;
MCopy = gsl_matrix_alloc(M->size1, M->size2);
gsl_matrix_memcpy(MCopy, M);
if(convToMinAsg == true)
{
res = ConvertToMinAsg(MCopy);
if(res != GSL_SUCCESS) return res;
}
// Allocate memory
rowCov = gsl_vector_uint_alloc(M->size1);
colCov = gsl_vector_uint_alloc(M->size2);
mask = gsl_matrix_uint_alloc(M->size1, M->size2);
path = gsl_matrix_int_calloc(ceil(((float)(mask->size1*mask->size2))/2), 2 );
// Initialize
gsl_vector_uint_set_all(rowCov, UNCOVERED);
gsl_vector_uint_set_all(colCov, UNCOVERED);
gsl_matrix_uint_set_all(mask, UNMASKED);
while(done == false)
{
switch(next)
{
case STEP1:
next = Step1(MCopy);
#ifdef VERBOSE
Matrix_print_with_mask(MCopy, mask, rowCov, colCov, "Post Step 1");
PrintCover( rowCov, colCov, "Post Step 1 Cover");
#endif
break;
case STEP2:
next = Step2(MCopy, mask, rowCov, colCov);
#ifdef VERBOSE
Matrix_print_with_mask(MCopy, mask, rowCov, colCov, "Post Step 2");
PrintCover( rowCov, colCov, "Post Step 2 Cover");
#endif
break;
case STEP3:
next = Step3(MCopy, mask, colCov);
#ifdef VERBOSE
Matrix_print_with_mask(MCopy, mask, rowCov, colCov, "Post Step 3");
PrintCover( rowCov, colCov, "Post Step 3 Cover");
#endif
break;
case STEP4:
next = Step4(MCopy, mask, rowCov, colCov, &z0_r, &z0_c);
#ifdef VERBOSE
Matrix_print_with_mask(MCopy, mask, rowCov, colCov, "Post Step 4");
PrintCover( rowCov, colCov, "Post Step 4 Cover");
#endif
break;
case STEP5:
next = Step5(mask, path, rowCov, colCov, z0_r, z0_c);
#ifdef VERBOSE
Matrix_print_with_mask(MCopy, mask, rowCov, colCov, "Post Step 5");
PrintCover( rowCov, colCov, "Post Step 5 Cover");
#endif
break;
case STEP6:
next = Step6(MCopy, rowCov, colCov);
#ifdef VERBOSE
Matrix_print_with_mask(MCopy, mask, rowCov, colCov, "Post Step 6");
PrintCover( rowCov, colCov, "Post Step 6 Cover");
#endif
break;
case DONE:
#ifdef VERBOSE
Matrix_print_with_mask(MCopy, mask, rowCov, colCov, "DONE");
#endif
UpdateAssignment(mask, Assignment);
done = true;
break;
default:
done = true;
fprintf(stderr, "Error!\n");
}
}
// Release memory
gsl_matrix_free(MCopy);
gsl_vector_uint_free(rowCov);
gsl_vector_uint_free(colCov);
gsl_matrix_uint_free(mask);
gsl_matrix_int_free(path);
return GSL_SUCCESS;
}
